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Replace SdfLib with linear octree interpolation of TriangleMeshDistance.

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Temporary changes to the octree:
- Changed frame from mesh to geom

Before change (tolerance 1e-3):
```
 Simulation time      : 2.34 s
 Steps per second     : 4275
 Realtime factor      : 8.55 x
 Time per step        : 233.9 µs

 Newton iters / step  : 2.26
 Contacts / step      : 3.69
 Constraints / step   : 14.76
 Degrees of freedom   : 12
 Dynamic memory usage : 0.7% of 14M
```

After change (6 octree levels):
```
 Simulation time      : 2.24 s
 Steps per second     : 4472
 Realtime factor      : 8.94 x
 Time per step        : 223.6 µs

 Newton iters / step  : 2.47
 Contacts / step      : 3.37
 Constraints / step   : 13.49
 Degrees of freedom   : 12
 Dynamic memory usage : 0.2% of 14M
```

PiperOrigin-RevId: 781019754
Change-Id: Ib15581244dfe9e571e1c6c2cac4a101cf3d8ba3d
This commit is contained in:
Alessio Quaglino
2025-07-09 06:20:36 -07:00
committed by Copybara-Service
parent e6c5715903
commit b81f1db8af
8 changed files with 194 additions and 121 deletions
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model/plugin/sdf/octree.xml
-31
View File
@@ -1,31 +0,0 @@
<mujoco>
<compiler texturedir="asset"/>
<asset>
<texture name="texspot" type="2d" file="spot.png"/>
<material name="matspot" texture="texspot"/>
<mesh name="spot" file="asset/spot.obj"/>
</asset>
<option sdf_iterations="20" sdf_initpoints="40"/>
<visual>
<map force="1000"/>
</visual>
<default>
<geom solref="0.01 1" solimp=".95 .99 .0001" friction="0.5"/>
</default>
<statistic meansize="0.2"/>
<include file="scene.xml"/>
<worldbody>
<body euler="90 0 0" pos="0 0 .7">
<geom type="sdf" name="cow1" mesh="spot" material="matspot"/>
</body>
<light name="left" pos="0 0 1"/>
<light name="right" pos="1 0 1"/>
</worldbody>
</mujoco>